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公开(公告)号：US11806198B2
公开(公告)日：2023-11-07
申请号：US16432390
申请日：2019-06-05
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： S. Christopher Anderson , William J. Park , Denise Ponganis
CPC classification number: A61B90/70 , A61B1/015 , A61M39/1011 , A61M39/1055 , A61B34/30 , A61B34/70 , A61B90/361 , A61B2090/0813 , A61M25/007 , A61M2025/0031 , A61M2025/0034 , A61M2039/1016
Abstract: In accordance with at least one exemplary embodiment, a surgical instrument comprises a shaft comprising a distal end, a proximal end, and a wall extending from the distal end to the proximal end, the wall surrounding an interior of the shaft. A transmission housing is located at the proximal end of the shaft and the shaft is rotatably coupled to the transmission housing. An actuator in the transmission housing is operably coupled to actuate rotation of the shaft. A port accessible from an exterior of the transmission housing is configured to be fluidically coupled to a fluid supply. A manifold in the transmission housing comprises an inlet and an outlet, the inlet being in fluid communication with the port, the outlet being in fluid communication with the interior of the shaft at the proximal end of the shaft.
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公开(公告)号：US11624428B2
公开(公告)日：2023-04-11
申请号：US17569378
申请日：2022-01-05
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Thomas G. Cooper , S. Christopher Anderson
Abstract: A force transmission transmits forces received by three levers to an input gimbal plate having three support points. The input gimbal play may in turn transmit the force to a wrist assembly coupled to a surgical tool. The three axes of rotation for the three levers are parallel. Two of the levers may have half-cylinder surfaces at an end of the lever to receive a support point of the input gimbal plate. Two of the levers may be supported with one degree of rotational freedom orthogonal to the axis of rotation of the fulcrum. A spring may draw the second and third levers toward one another. Two levers may have stops that bear against the support points. The force transmission may include a parallelogram linkage that includes a rocker link pivotally coupled to the first lever and having a flat surface that supports the first gimbal support point.
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公开(公告)号：US11304766B2
公开(公告)日：2022-04-19
申请号：US16381323
申请日：2019-04-11
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： William J. Park , S. Christopher Anderson , Thomas G. Cooper , Matthew R. Williams
Abstract: A surgical apparatus comprises an instrument shaft having a proximal end and a distal end, an end effector coupled to the distal end of the shaft, and a sheath disposed on an external surface of the instrument shaft. The sheath has a first section made of ePTFE and a second section made of a second material, wherein the second section provides a friction seal with the shaft, and wherein the ePTFE is gas-permeable.
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公开(公告)号：US20190314046A1
公开(公告)日：2019-10-17
申请号：US16456148
申请日：2019-06-28
Applicant: Intuitive Surgical Operations, Inc.
Inventor： S. Christopher Anderson , Thomas G. Cooper
Abstract: A force transmission with means for winding a first cable onto a first capstan and a second cable onto a second capstan with a first axis of rotation. The first and second cables wound such that when one of the two cables is payed out, the other of the two cables is payed in. The force transmission further includes means for passing the first and cables over an idler pulley in opposite directions. The idler pulley has a second axis of rotation substantially perpendicular to the first axis of rotation. The force transmission further includes means for coupling the first cable to a lever to rotate the lever in a first direction and means for coupling the second cable to the lever to rotate the lever in a second direction opposite the first direction, the lever having a third axis of rotation substantially parallel to the second axis of rotation.
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公开(公告)号：US10335176B2
公开(公告)日：2019-07-02
申请号：US16121831
申请日：2018-09-05
Applicant: Intuitive Surgical Operations, Inc.
Inventor： S. Christopher Anderson , Thomas G. Cooper
Abstract: A medical device includes a lever with an applied force position, a load position, and a fulcrum position. A first cable extends from the applied force position of the lever to a first capstan, the first cable wrapping around the first capstan. A second cable extends from the applied force position of the lever to a second capstan, the second cable wrapping around the second capstan. A rod couples the load position of the lever and a surgical end effector. The first and second capstans may be fixed to an axle. The axle may receive a rotational input from a rotary actuator. A hand wheel may be coupled to the axle. There may be a spring between a support structure and the lever to bias the lever to rotate about the fulcrum position of the lever.
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Patent Agency Ranking
公开(公告)号：US10076348B2
公开(公告)日：2018-09-18
申请号：US14461260
申请日：2014-08-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： S. Christopher Anderson , Thomas G. Cooper
CPC classification number: A61B17/28 , A61B34/30 , A61B34/71 , A61B2017/00477
Abstract: A surgical instrument includes a surgical end effector coupled to an elongate tube and a rod that passes through the elongate tube. A control mechanism coupled to the elongate tube includes an input axle having a first axis of rotation, an idler pulley having a second axis of rotation perpendicular to the first axis, and a lever coupled to the rod and having a third axis of rotation parallel to the second axis. First and second capstans are fixed to the input axle. Cables pass over the idler pulley and are coupled to the lever. Rotating the input axle in a first direction winds a first cable onto the first capstan, rotates the lever, and moves the rod in a second direction. Rotating the input axle opposite the first direction winds a second cable onto the second capstan, rotates the lever, and moves the rod opposite the second direction.
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公开(公告)号：US20150051618A1
公开(公告)日：2015-02-19
申请号：US14461260
申请日：2014-08-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： S. Christopher Anderson , Thomas G. Cooper
CPC classification number: A61B17/28 , A61B34/30 , A61B34/71 , A61B2017/00477
Abstract: A surgical instrument includes a surgical end effector coupled to an elongate tube and a rod that passes through the elongate tube. A control mechanism coupled to the elongate tube includes an input axle having a first axis of rotation, an idler pulley having a second axis of rotation perpendicular to the first axis, and a lever coupled to the rod and having a third axis of rotation parallel to the second axis. First and second capstans are fixed to the input axle. Cables pass over the idler pulley and are coupled to the lever. Rotating the input axle in a first direction winds a first cable onto the first capstan, rotates the lever, and moves the rod in a second direction. Rotating the input axle opposite the first direction winds a second cable onto the second capstan, rotates the lever, and moves the rod opposite the second direction.
Abstract translation: 手术器械包括连接到细长管的手术末端执行器和穿过细长管的杆。 耦合到细长管的控制机构包括具有第一旋转轴线的输入轴，具有垂直于第一轴线的第二旋转轴线的惰轮，以及连接到该杆并具有平行于第三轴线的第三旋转轴线的杆 第二轴。 第一和第二个绞盘固定在输入轴上。 电缆穿过惰轮，并连接到杠杆上。 沿第一方向旋转输入轴将第一缆线卷绕到第一绞盘上，旋转杆，并使杆沿第二方向移动。 使输入轴与第一方向相反的方向将第二缆线卷绕到第二主导轴上，使杆旋转并使杆与第二方向相反地移动。
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公开(公告)号：US11207145B2
公开(公告)日：2021-12-28
申请号：US16317235
申请日：2017-06-22
Applicant: Intuitive Surgical Operations, Inc.
Abstract: A medical instrument includes cable pairs respectively wound around input spindles and connected to actuate degrees of freedom of an instrument shaft structure. The cables may connect so that rotating the input spindles actuates corresponding degrees of freedom. First pulleys in the instrument may receive first cables from the input spindles and redirect the first cables toward the instrument shaft, and second pulleys may receive second cables from the input spindles and redirect the second cables toward the instrument shaft. In one configuration, the first and second pulleys are respectively mounted at first and second levels, and the second pulleys redirect the second cables through the first level. Additionally or alternatively, one level of cables may cross while the other level of cables does not.
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公开(公告)号：US10524868B2
公开(公告)日：2020-01-07
申请号：US15435254
申请日：2017-02-16
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Thomas G. Cooper , S. Christopher Anderson
IPC: A61B1/00 , A61B34/30 , A61B1/008 , A61B17/062 , A61B17/29 , A61B17/00 , A61B34/00 , A61B1/005 , A61B1/018 , A61B17/068 , A61B17/128 , A61B18/14
Abstract: The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. In one embodiment, a minimally invasive surgical instrument includes an elongate shaft having a working end, a proximal end, and a shaft axis between the working end and the proximal end; and an end effector. A wrist member has a flexible tube including an axis extending through an interior surrounded by a wall. The wall of the flexible tube includes a plurality of lumens oriented generally parallel to the axis of the flexible tube. The wrist member has a proximal portion connected to the working end of the elongate shaft and a distal portion connected to the end effector. A plurality of actuation cables have distal portions connected to the end effector and extend from the distal portion through the lumens of the wall of the wrist member toward the elongate shaft to proximal portions which are actuatable to bend the wrist member in pitch rotation and yaw rotation.
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公开(公告)号：US09439732B2
公开(公告)日：2016-09-13
申请号：US13960644
申请日：2013-08-06
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Roman L. Devengenzo , Thomas G. Cooper , Joseph P. Orban, III , Bruce Michael Schena , Alan E. Loh , S. Christopher Anderson
IPC: A61B19/00
CPC classification number: A61B34/30 , A61B90/00 , Y10S901/27 , Y10S901/41
Abstract: An instrument interface of a robotic manipulator and a surgical system including the instrument interface are provided. In one embodiment, the instrument interface includes a spring-loaded input for providing axial load and torque to a sterile adaptor capable of operably coupling an instrument. In another embodiment, a robotic surgical manipulator system includes a manipulator assembly, including a base link operably coupled to a distal end of a manipulator arm, and a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including an integrated instrument interface. The system further includes an instrument operably coupled to the carriage link via the instrument interface, and a processor operably coupled to the manipulator assembly for sensing presence of the instrument.
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